Control method, controller and pumping system for pumping system

Abstract

This invention relates to the field of engineering machinery technology, and discloses a control method, controller, and pumping system for a pumping system. The pumping system includes a swing cylinder and at least two pumping cylinders. The swing cylinder is used to drive the pumping direction change, and the pumping cylinders are used to push material out. The control method includes: determining the target operating condition information of the pumping system; acquiring the pre-established original mapping relationship between the pumping operating condition information and initial value parameters; matching the target initial value parameters corresponding to the target operating condition according to the target operating condition information and the original mapping relationship; and adjusting the action start point of the swing cylinder and the material pushing start point of the pumping cylinder according to the target initial value parameters. This technical solution reduces the computational burden on the pumping system, ensuring rapid response performance; it also enables real-time judgment and adjustment of the action matching between the pumping cylinder and the swing cylinder, simplifying the debugging requirements of the pumping system and improving its working efficiency.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and more specifically to a control method, controller and pumping system for a pumping system. Background Technology

[0002] As strategies to achieve carbon neutrality and reduce carbon emissions are gradually implemented, the trend of new energy sources gradually replacing fossil fuels in various industries is irreversible. With the large-scale application and increasing proportion of low-cost renewable photovoltaic and wind power, electric engineering vehicles that primarily use electricity are gradually gaining competitiveness in the market. Concrete pump trucks, truck-mounted pumps, trailer pumps, wet spraying machines, and other pumping engineering tools consume a large amount of energy due to their long-term, high-power operation. Given the relative scarcity of energy, the efficient use of energy is an urgent issue to be addressed, and high-efficiency systems need to be a key focus in the design and development of engineering machinery.

[0003] Currently, most pumping hydraulic systems used in material pumping machinery employ electronically controlled reversing technology. When the main cylinder piston moves to the reversing position, the main cylinder displacement sensor sends a signal to the main controller. After a set delay time, the main controller sends a reversing signal to the distribution hydraulic system. After another set delay time, the main cylinder reversing signal is sent to the pumping hydraulic system. Because pumping systems operate under various conditions, setting the set delay time and the main cylinder reversing delay time to fixed values ​​makes it difficult to match the needs of multiple operating conditions, resulting in low pumping efficiency. Summary of the Invention

[0004] To overcome the shortcomings of the existing technology, embodiments of the present invention provide a control method, controller and pumping system for a pumping system.

[0005] To achieve the above objectives, a first aspect of the present invention provides a control method for a pumping system, wherein the pumping system includes a swing cylinder and at least two pumping cylinders, the swing cylinder being used to reverse the pumping direction, and the pumping cylinders being used to push material out; the control method includes:

[0006] Determine the target operating conditions of the pumping system;

[0007] Obtain the original mapping relationship between the pre-established pumping condition information and the initial parameters;

[0008] Based on the target working condition information and the original mapping relationship, match the target initial value parameters corresponding to the target working condition;

[0009] Adjust the starting point of the swing cylinder and the starting point of the pumping cylinder according to the target initial value parameters.

[0010] In this embodiment of the invention, the target initial value parameters include a first initial value time and a second initial value time, and the original mapping relationship is pre-established in the following manner:

[0011] Determine the pumping operating conditions of the pumping system;

[0012] Determine the starting point and ending point of the swing cylinder based on the pressure change characteristics of the swing cylinder.

[0013] The starting point and ending point of the material pushing in the pumping cylinder are determined based on the displacement change characteristics of the piston in the pumping cylinder.

[0014] The difference between the start point of the action and the end point of the material push is determined as the first initial time value.

[0015] The difference between the material push start point and the action end point is determined as the second initial time value;

[0016] Establish the original mapping relationship between pumping conditions, the first initial value time, and the second initial value time.

[0017] In this embodiment of the invention, adjusting the actuation start point of the swing cylinder and the pushing start point of the pumping cylinder according to the target initial value parameters includes:

[0018] If the first initial time is positive and greater than the preset value, the starting point of the swing cylinder's action will be advanced by the first initial time.

[0019] If the second initial time is positive and greater than the preset value, the starting point of the pumping cylinder is advanced by the second initial time.

[0020] In this embodiment of the invention, adjusting the action start point of the swing cylinder and the pushing start point of the pumping cylinder according to the target initial value parameters further includes:

[0021] If the first initial time is negative and its absolute value is greater than the preset value, the starting point of the swing cylinder's action will be delayed by the first initial time.

[0022] If the second initial time is negative and its absolute value is greater than the preset value, the starting point of the pumping cylinder's push-out will be delayed by the second initial time.

[0023] In this embodiment of the invention, adjusting the actuation start point of the swing cylinder and the pushing start point of the pumping cylinder according to the target initial value parameters includes:

[0024] If the absolute values ​​of both the first and second initial time values ​​are less than the preset values, it is prohibited to adjust the starting point of the swing cylinder and the starting point of the pumping cylinder.

[0025] In this embodiment of the invention, the target operating condition information includes at least one of the following:

[0026] The chassis's operating information, sensor-acquired signals, and controller's control information.

[0027] In this embodiment of the invention, the chassis operating information includes the engine speed, the sensor acquisition signals include pumping pressure and / or displacement of the pumping cylinder, and the controller control information includes pumping speed and / or displacement gear.

[0028] In this embodiment of the invention, the control method further includes:

[0029] After adjusting the starting point of the swing cylinder and the pushing point of the pumping cylinder according to the target initial value parameters, the starting point and ending point of the swing cylinder are determined according to the pressure change characteristics of the swing cylinder.

[0030] The starting point and ending point of the material pushing in the pumping cylinder are determined based on the displacement change characteristics of the piston in the pumping cylinder.

[0031] The difference between the start point of the action and the end point of the material push is determined as the third initial time value.

[0032] The difference between the material push start point and the action end point is determined as the fourth initial value time;

[0033] If the absolute value of the third initial time is greater than the preset value, the starting point of the swing cylinder is adjusted according to the third initial time.

[0034] If the absolute value of the fourth initial time is greater than the preset value, the push start point of the pumping cylinder is adjusted according to the fourth initial time.

[0035] In this embodiment of the invention, the control method further includes:

[0036] After the pumping system completes pumping, restore the starting point of the swing cylinder and the starting point of the pumping cylinder to the parameters before adjustment.

[0037] A second aspect of the present invention provides a controller configured to perform the control method for a pumping system described above.

[0038] A third aspect of the present invention provides a pumping system, comprising:

[0039] A swing cylinder is used to drive the pump to change direction;

[0040] Pump cylinders are used to push materials out;

[0041] A cloud platform is used to pre-establish and store the original mapping relationship between pumping operating condition information and initial parameters; and

[0042] The aforementioned controller.

[0043] The action matching between the pumping cylinder and the swing cylinder refers to the fact that during the pumping reversing process, the time difference between the stopping time of the pumping cylinder's pushing and the starting time of the swing cylinder's pushing of the distribution valve for reversing is within a preset range, and the time difference between the ending time of the swing cylinder's pushing of the distribution valve for reversing and the starting time of the pumping cylinder's pushing is within a preset range. Ideally, when both of these time differences are close to zero, it means that when the pumping cylinder stops pushing, the swing cylinder immediately pushes the distribution valve to start reversing; when the swing cylinder finishes pushing the distribution valve for reversing, the pumping cylinder immediately starts pushing. This can greatly improve pumping efficiency.

[0044] Since the action matching parameters between the pumping cylinder and the swing cylinder differ under different pumping conditions, in this embodiment of the invention, an original mapping relationship between pumping condition information and initial parameters is pre-established. Then, based on the target condition information of the current pumping system and the original mapping relationship, the target initial parameters corresponding to the target condition are matched. The action start point of the swing cylinder and the material push start point of the pumping cylinder are adjusted according to the target initial parameters. This reduces the computational pressure on the pumping system and ensures rapid response performance. It also enables real-time judgment and adjustment of the action matching between the pumping cylinder and the swing cylinder, simplifying the debugging requirements of the pumping system and improving the working efficiency of the pumping system. Attached Figure Description

[0045] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0046] Figure 1 A schematic diagram of a pumping system according to an embodiment of the present invention is shown.

[0047] Figure 2 A flowchart illustrating a control method for a pumping system according to an embodiment of the present invention is shown schematically.

[0048] Figure 3 This schematic diagram illustrates the action matching between the pumping cylinder and the swing cylinder according to an embodiment of the present invention.

[0049] Figure 4 The schematic diagram illustrates the buffer pressure curve of the swing cylinder according to an embodiment of the present invention;

[0050] Figure 5 This schematically illustrates a flowchart for identifying the cylinder start point and cylinder end point according to an embodiment of the present invention.

[0051] Figure 6 The diagram schematically illustrates the displacement curve of the piston in the pumping cylinder according to an embodiment of the present invention.

[0052] Figure 7 A flowchart illustrating the identification of the stop point and start point of the pumping cylinder according to an embodiment of the present invention is shown.

[0053] Figure 8 The diagram illustrates the mapping relationship between pumping conditions and target initial parameters according to an embodiment of the present invention.

[0054] Figure 9 A schematic diagram illustrating the control architecture of a pumping system according to an embodiment of the present invention is shown.

[0055] Figure 10 A schematic flowchart illustrating the fine-tuning process of reversing control of a material pumping system according to an embodiment of the present invention is shown.

[0056] Explanation of reference numerals in the attached figures

[0057] 10-Displacement sensor; 11-Pumping cylinder;

[0058] 12-Hydraulic cylinder piston; 13-Water tank;

[0059] 14-Material pumping cylinder; 15-Hydraulic cylinder piston rod;

[0060] 16-Material pumping piston cylinder; 17-Swing cylinder;

[0061] 18-Hopper; 19-Distribution valve (conduit). Detailed Implementation

[0062] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0063] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0064] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0065] Figure 1 A schematic diagram of a pumping system according to an embodiment of the present invention is shown, which can be seen in the following figures. Figure 1 ,exist Figure 1 In the example, the pumping system includes two symmetrical pumping cylinders 11, both of which are connected to a hopper 18 and are used to hold the target material being conveyed. The hopper 18 is used to hold the target material. Each of the two pumping cylinders 11 is equipped with a piston 12, which is used to draw the target material from the hopper 18 into the pumping cylinder 11, or to push the target material from the pumping cylinder 11 into a conduit 19. A distribution valve (conduit) 19 is located in the hopper 18, separated from the target material in the hopper 18, and connected to one of the two pumping cylinders 11, used to convey the target material out.

[0066] The suction motion can be understood as drawing the target material from the hopper 18 into the pumping cylinder 11, while the pushing motion can be understood as pushing the target material from the pumping cylinder 11 into the conduit 19. When one pumping cylinder 11 is pushing, the other pumping cylinder 11 is suctioning, and the direction of the pushing motion is opposite to the direction of the suction motion. When one pumping cylinder 11 is pushing, the conduit 19 is connected to the pumping cylinder 11 pushing, and the material is pushed into the conduit 19 and then pushed out. When the pushing motion of the pumping cylinder 11 ends, the swing cylinder 17 pushes the distribution valve 19 to start reversing. When the reversing motion of the swing cylinder 17 pushes the distribution valve 19 to end, the swing cylinder 17 is connected to the other pumping cylinder 11, and the other pumping cylinder 11 starts pushing again, and so on.

[0067] Currently, the pumping cylinder 11 is controlled to start pushing material, stop pushing material, and start switching the distribution valve 19 by energizing and de-energizing the solenoid valve. However, the solenoid valve has a response delay time, which can easily cause the error in the matching of actions between the pumping cylinder 11 and the switching cylinder 17 to be greater than the preset range.

[0068] Figure 2 A flowchart illustrating a control method for a pumping system according to an embodiment of the present invention is shown schematically. The pumping system includes a swivel cylinder 17 and at least two pumping cylinders 11, the swivel cylinder 17 for actuating the pumping direction, and the pumping cylinders 11 for pushing material out. Figure 2 As shown, in one embodiment of the present invention, a control method for a pumping system is provided, comprising the following steps:

[0069] Step 201: Determine the target operating condition information of the pumping system;

[0070] Step 202: Obtain the original mapping relationship between the pre-established pumping condition information and the initial parameters;

[0071] Step 203: Match the target initial value parameters corresponding to the target working condition based on the target working condition information and the original mapping relationship;

[0072] Step 204: Adjust the starting point of the swing cylinder 17 and the starting point of the pumping cylinder 11 according to the target initial value parameters.

[0073] The action matching between the pumping cylinder 11 and the swing cylinder 17 means that during the pumping reversal process, the time difference between the stopping time of the pumping cylinder 11 and the starting time of the swing cylinder 17 pushing the distribution valve 19 for reversal is within a preset range, and the time difference between the ending time of the swing cylinder 17 pushing the distribution valve 19 for reversal and the starting time of the pumping cylinder 11 pushing material is within a preset range. Ideally, when both of these time differences are close to zero, it means that when the pumping cylinder 11 stops pushing material, the swing cylinder 17 immediately pushes the distribution valve 19 to start reversing; when the swing cylinder 17 pushes the distribution valve 19 for reversing ends, the pumping cylinder 11 immediately starts pushing material. This can greatly improve the pumping efficiency.

[0074] Figure 3 This schematic diagram illustrates the action matching between the pumping cylinder and the swing cylinder according to an embodiment of the present invention. (See also...) Figure 3 The two pumping cylinders 11 in the pumping system are labeled as pumping cylinder 1 and pumping cylinder 2. The time difference between the end time of the pushing action of pumping cylinder 11 (i.e., the time when the pushing stops) and the start time of the reversing action of swing cylinder 17 pushing distribution valve 19 is calculated according to the following formula (1):

[0075] T1=t2-t1 Formula (1)

[0076] In formula (1), t1 refers to the end time of the pushing action of pumping cylinder 1; t2 refers to the start time of the reversing action of swing cylinder 17 pushing distribution valve 19.

[0077] The time difference between the end of the reversing action of the swing cylinder 17 pushing the distribution valve 19 and the start of the pushing action of the pumping cylinder 2 is calculated according to the following formula (2):

[0078] T2=t4-t3 Formula (2)

[0079] In formula (2), t3 refers to the end of the reversing action of the swing cylinder 17 pushing the distribution valve 19; t4 refers to the start of the pushing action of the pumping cylinder 2.

[0080] The action matching parameters between the pumping cylinder 11 and the swing cylinder 17 differ under different pumping conditions. In this embodiment of the invention, an original mapping relationship between pumping condition information and initial parameters is established in advance. Then, based on the target condition information of the current pumping system and the original mapping relationship, the target initial parameters corresponding to the target condition are matched. The action start point of the swing cylinder 17 and the material pushing start point of the pumping cylinder 11 are adjusted according to the target initial parameters. This can reduce the computational pressure of the pumping system and ensure rapid response performance. It can also make real-time judgments and adjustments on the action matching of the pumping cylinder and the swing cylinder, simplifying the debugging requirements of the pumping system and improving the working efficiency of the pumping system.

[0081] In one embodiment, adjusting the actuation start point of the swing cylinder and the pushing start point of the pumping cylinder according to the target initial value parameters includes:

[0082] If the first initial time is positive and greater than the preset value, the starting point of the swing cylinder's action will be advanced by the first initial time.

[0083] If the second initial time is positive and greater than the preset value, the starting point of the pumping cylinder is advanced by the second initial time.

[0084] The action matching between pumping cylinder 11 and swing cylinder 17 varies depending on the pumping conditions. In other words, the target initial parameters differ for different target conditions, requiring different adjustments to the starting point of the swing cylinder and the starting point of the pumping cylinder's push. For example, the target initial parameters include a first initial time T1 and a second initial time T2. When the target initial parameters for the matched target condition are T1 = 200ms and T2 = 300ms, it means that in the previously collected historical data, under the target condition, after the pumping cylinder 1's push action ended, it waited 200ms before the swing cylinder 17 started pushing the distribution valve 19 to switch directions; after the swing cylinder 17 pushed the distribution valve 19 to switch directions, it waited 300ms before the pumping cylinder 2 started pushing. This indicates that the pumping efficiency still needs improvement in the previously collected historical data. In this embodiment of the invention, the original mapping relationship between the pumping condition information and the initial parameters is pre-established and borrowed from the previously collected historical big data. Under this target condition information, the start point of the swing cylinder 17 (i.e., the end time of the swing cylinder 17 pushing the distribution valve 19 to switch direction) is advanced by 200ms. For example, the energization time of the corresponding solenoid valve can be advanced by 200ms to make T1=0, eliminating the waiting time and improving the pumping efficiency. In addition, the push start point of the pumping cylinder 11 (i.e., the start time of the push action of the pumping cylinder 11) needs to be advanced by 300ms. For example, the energization time of the corresponding solenoid valve can be advanced by 300ms to make T2=0, eliminating the waiting time and improving the pumping efficiency.

[0085] It should be noted that the pre-established original mapping relationship between pumping condition information and initial parameters is not based solely on a single pumping data point, but rather on a large amount of rich historical pumping data. Therefore, the target initial parameters matched with the target condition based on the target condition information and the original mapping relationship are both adaptable and scientific.

[0086] Similarly, in this embodiment of the invention, adjusting the actuation start point of the swing cylinder 17 and the pushing start point of the pumping cylinder 11 according to the target initial value parameters further includes:

[0087] If the first initial time is negative and its absolute value is greater than the preset value, the starting point of the swing cylinder 17 will be delayed by the first initial time.

[0088] If the second initial time is negative and its absolute value is greater than the preset value, the starting point of the pumping cylinder 11 will be delayed by the second initial time.

[0089] In one embodiment, adjusting the actuation start point of the swing cylinder 17 and the pushing start point of the pumping cylinder 11 according to the target initial value parameters includes:

[0090] If the absolute values ​​of both the first initial time and the second initial time are less than the preset values, it is prohibited to adjust the start point of the swing cylinder 17 and the push start point of the pumping cylinder 11.

[0091] In one embodiment, the target initial value parameters include a first initial value time and a second initial value time, and the original mapping relationship is pre-established in the following manner:

[0092] Determine the pumping operating conditions of the pumping system;

[0093] The starting point and ending point of the swing cylinder are determined based on the pressure change characteristics of the swing cylinder 17.

[0094] The starting point and ending point of the material pushing of the pumping cylinder 11 are determined based on the displacement change characteristics of the piston in the pumping cylinder 11.

[0095] The difference between the start point of the action and the end point of the material push is determined as the first initial time value.

[0096] The difference between the material push start point and the action end point is determined as the second initial time value;

[0097] Establish the original mapping relationship between pumping conditions, the first initial value time, and the second initial value time.

[0098] The following describes the identification method of the starting point and ending point of the swing cylinder 17 in the pre-established original mapping relationship. The starting point of the swing cylinder 17 can be understood as the start time of the swing cylinder 17 pushing the distribution valve 19 to switch directions, and the ending point of the swing cylinder 17 can be understood as the end time of the swing cylinder 17 pushing the distribution valve 19 to switch directions.

[0099] Figure 4 The schematic diagram illustrates the buffer pressure curve of the swing cylinder according to an embodiment of the present invention. (See also...) Figure 4 The starting point and ending point of the swing cylinder 17 can be mainly identified by the reversing state and the pressure characteristics of the swing cylinder 17 (e.g., the slope of pressure change). Figure 4 As shown, the pressure curve of the swing cylinder buffer will show a sharp drop in pressure when the swing cylinder 17 starts, and a peak value will appear when the swing cylinder 17 is in place. The starting point and the ending point of the swing cylinder can be identified by the sudden change in the slope of the pressure curve and the peak value. The swing cylinder 17 can be simply referred to as swing cylinder 17. Figure 5 A schematic diagram illustrating the identification flowchart of the cylinder starting point and cylinder ending point according to an embodiment of the present invention is shown below. Figure 5The pumping reversing state can be understood as the state in which one pumping cylinder 11 finishes pushing material, the other pumping cylinder 11 finishes sucking material, and the swing cylinder 17 starts pushing the distribution valve 19 to start the reversing action.

[0100] The following describes the identification method of the push start point and push end point of the pumping cylinder 11 in the pre-established original mapping relationship. The push start point of the pumping cylinder 11 can be understood as the start time of the push action of the pumping cylinder 11, and the push end point of the pumping cylinder 11 can be understood as the end time of the push action of the pumping cylinder 11.

[0101] exist Figure 1 In the pumping cylinder 11, there is a first end away from the conduit 19 and a second end close to the conduit 19. It can be seen that the displacement sensor 10 is installed at the first end of the pumping cylinder 11. The movement of the cylinder piston 12 from the first end to the second end can be understood as a pushing motion, and the movement of the cylinder piston 12 from the second end to the first end can be understood as a suction motion.

[0102] Figure 6 The diagram schematically illustrates the displacement curve of the piston in the pumping cylinder according to an embodiment of the present invention. (See also...) Figure 6 The main method involves identifying the characteristics of displacement slope changes and determining the threshold range through displacement curves to pinpoint the start and stop times of the pumping cylinder 11, ensuring the efficiency and accuracy of the controller in identifying these times. The displacement change curves of the pumping cylinder 11 during the pushing and suction processes can be found in [reference needed]. Figure 6 When the displacement is less than the threshold and the displacement slope changes from negative to 0, the pumping cylinder 11 can be considered to have stopped. This means that one pumping cylinder 11 has just finished suction and the other pumping cylinder 11 has just finished pushing. When the displacement is less than the threshold and the displacement slope changes from 0 to positive, the pumping cylinder 11 can be considered to have started. This means that one pumping cylinder 11 has started pushing and the other pumping cylinder 11 has started suction. Therefore, the stop and start points of the pumping cylinder 11 can be identified through the displacement curve. Figure 7 This schematically illustrates a flowchart of the identification process for the pumping cylinder stop point and start point according to an embodiment of the present invention. (See also...) Figure 7 .

[0103] After identifying the start-up and arrival times of the swing cylinder 17, and the stop and start-up times of the pumping cylinder 11, two matching times (first initial value time and second initial value time) can be calculated through the logical matching relationship between the main cylinder and the swing cylinder. The calculation formulas are shown in formula (1) and formula (2). The original mapping relationship between the pumping condition information and the initial value parameters is pre-established by uploading the information to the platform through the communication terminal.

[0104] In one embodiment, the target operating condition information includes at least one of the following:

[0105] The chassis's operating information, sensor-acquired signals, and controller's control information.

[0106] In one embodiment, the chassis operating information includes engine speed, the sensor acquisition signals include pumping pressure and / or pumping cylinder displacement, and the controller control information includes pumping speed and / or displacement gear.

[0107] During actual pumping, the main controller controls, outputs, collects, and calculates pumping information from the pumping equipment, and timestamps the equipment's operating information before sending it to the platform. This operating information includes, but is not limited to, chassis operating information (e.g., engine speed), sensor-collected signals (e.g., pumping pressure, main cylinder displacement), and controller information (displacement gear). The main controller identifies the matching time (i.e., the first initial value time and the second initial value time) during actual concrete pumping, and simultaneously uploads the identified matching time results and the original values ​​of the matching parameters to the platform.

[0108] Figure 8 This diagram illustrates the mapping relationship between pumping conditions and target initial parameters according to an embodiment of the present invention. (See attached diagram.) Figure 8 The platform locates the original mapping relationship between pumping condition information and initial parameters, and sends the matched target initial parameters to the pumping system controller. Methods for establishing the original mapping relationship include, but are not limited to, using expert databases, data-driven algorithms, machine learning algorithms, and pattern recognition algorithms. This embodiment uses the establishment of an expert database as an example. During actual pumping, the platform provides preset value query services by establishing an expert database. When the controller identifies a specific pumping condition, it can call the corresponding matched parameter preset initial values ​​(i.e., target initial parameters) from the platform for coarse parameter adjustment, completing a phased improvement in the pumping system's performance. Furthermore, the map is gradually corrected based on the product's service life to ensure that the product's operating efficiency remains at a high level.

[0109] In summary, a specific embodiment is used to provide a summary description of the control method of the pumping system in the present invention.

[0110] (1) Based on the pressure curve characteristics of the distribution swing cylinder during the pumping process and the displacement change law of the main cylinder, extract the curve characteristics and establish a reversal time point identification model to identify the start and stop time points of the main cylinder and the start and end time points of the swing cylinder, and calculate the matching time T1 and T2.

[0111] (2) The pumping condition information, matching times T1 and T2 (and initial parameters) are sent to the remote terminal. The remote terminal uses historical data to pre-establish the original mapping relationship between the pumping condition information and the preset initial values ​​(and initial parameters) of the matching time. The remote terminal includes, but is not limited to, industrial control computers, IoT platforms, and other devices or platforms with data storage and computing capabilities. It should be noted that the original mapping relationship model between the pumping condition information and the initial parameters has self-updating capabilities.

[0112] It should be noted that, on the one hand, local devices with data storage and computing capabilities can be used to locally store historical pumping data of the pumping system, and the original mapping relationship between pumping condition information and initial parameters can be pre-established locally; on the other hand, an Internet of Things (IoT) platform (or a cloud platform or other platform with data storage and computing capabilities) can be used to remotely store historical pumping data of the pumping system, and the original mapping relationship between pumping condition information and initial parameters can be pre-established remotely. The IoT platform can store historical pumping data of multiple or multiple types of pumping equipment (i.e., including the pumping system), and the original mapping relationship between pumping condition information and initial parameters of multiple or multiple types of pumping equipment can be pre-established remotely.

[0113] Therefore, when it is necessary to access the original mapping relationship between pumping condition information and initial parameters, a pre-established local mapping relationship can be used, or a pre-established mapping relationship on a remote end (such as a cloud platform) can be used. Furthermore, when it is necessary to access historical pumping data of a single pumping device (i.e., including the entire pumping system), this can be achieved either locally or via the cloud. To ensure the accuracy and scientific rigor of big data, when it is necessary to access historical pumping data from multiple pumping devices (which can be of the same model), it can be accessed via the cloud to obtain a more accurate and scientifically sound original mapping relationship.

[0114] (3) Since the original mapping relationship between pumping operating condition information and initial value parameters is established in advance, during the actual operation and running of the pumping system, the control end only needs to identify the current target operating condition information, and then, based on the target operating condition information and the original mapping relationship, it can directly obtain the corresponding preset initial value of matching time (i.e., target initial value parameter) from the remote end. This reduces the computational pressure on the pumping system, ensures rapid response performance, and simplifies the debugging requirements of the pumping system. The control system then adjusts the actions of the pumping cylinder 11 and the swing cylinder according to the preset initial value of matching time, so as to achieve matching time T1 = 0, T2 = 0, or both T1 and T2 are less than the preset value, to ensure a better matching effect to improve pumping efficiency and realize complete closed-loop control of the pumping system. Figure 9 A schematic diagram illustrating the control architecture of a pumping system according to an embodiment of the present invention is shown below. Figure 9 , Figure 9The preset value in the text can be understood as the preset initial value for the matching time (i.e., the target initial value parameter).

[0115] Based on the target operating condition information and the original mapping relationship, target initial value parameters corresponding to the target operating condition information are matched; the action start point of the swing cylinder 17 and the material pushing start point of the pumping cylinder 11 are adjusted according to the target initial value parameters. This process can be understood as preliminary coarse adjustment of the parameters. After adjusting the action start point of the swing cylinder 17 and the material pushing start point of the pumping cylinder 11 according to the target initial value parameters, the pumping system can also perform real-time fine adjustment of the parameters. Specifically, in one embodiment, the control method further includes:

[0116] After adjusting the starting point of the swing cylinder 17 and the pushing point of the pumping cylinder 11 according to the target initial value parameters, the starting point and ending point of the swing cylinder 17 are determined according to the pressure change characteristics of the swing cylinder 17.

[0117] The starting point and ending point of the material pushing of the pumping cylinder 11 are determined based on the displacement change characteristics of the piston in the pumping cylinder 11.

[0118] The difference between the start point of the action and the end point of the material push is determined as the third initial time value.

[0119] The difference between the material push start point and the action end point is determined as the fourth initial value time;

[0120] If the absolute value of the third initial time is greater than the preset value, the starting point of the swing cylinder 17 is adjusted according to the third initial time.

[0121] If the absolute value of the fourth initial time is greater than the preset value, the push start point of the pumping cylinder 11 is adjusted according to the fourth initial time.

[0122] The reversing control method of the material pumping system includes: the main controller judges the position based on the real-time displacement change characteristics of the main cylinder piston and identifies the time points when the main cylinder (i.e., pumping cylinder 11) stops and starts; the main controller identifies the start and end time points of the distribution cylinder (i.e., swing cylinder 17) based on the pressure change characteristics of the distribution hydraulic system.

[0123] When the pump starts, the main cylinder 11 begins to move. The main controller records the displacement value of the cylinder piston 12 in real time and judges the position according to the preset reversing position displacement value. When the cylinder piston 12 moves to the reversing position, the main controller sends a reversing signal of the distribution system after a preset time t5 and a reversing signal of the main cylinder after a preset time t6. After the reversing action of the distribution cylinder 17 and the main cylinder 11 is completed, the main controller identifies the start and stop time points of the distribution cylinder 17 according to the pressure change trend of the distribution hydraulic system and identifies the stop and start time points of the main cylinder 11 according to the displacement value of the main cylinder piston 12. The matching time T1 and T2 between the action of the main cylinder 11 and the action of the distribution cylinder 17 and the distribution reversing time T3 are calculated according to formula (1) and formula (2).

[0124] The average value of T1 within the first three pumping cycles is used as the judgment criterion. After the third reversing action is completed, T1 is compared with the preset value K. When T1 < -K, the main controller adjusts the allocation delay t51 to t5 + |T1| as the delay time of the allocation cylinder 17 in the fourth cycle. When T1 > the preset value K, the main controller adjusts the allocation delay t51 to t5 - T1 as the delay time of the allocation cylinder 17 in the fourth cycle. When |T1| < the preset value K, the main controller keeps the allocation delay t5 unchanged as the delay time of the allocation cylinder 17 in the fourth cycle, that is, the start time of the reversing action of the swing cylinder 17 pushing the allocation valve 19 remains unchanged.

[0125] After a preset time t6, the main controller sends a reversing signal to the main cylinder to complete the reversing action of the 4th cycle. The average value of T2 in the first 4 pumping cycles is taken as the judgment basis. After the 4th reversing action is completed, T2 is compared with the preset value K. When T2 < -K, the main controller adjusts the allocated delay t61 to t6 + |T2| as the reversing delay time of the main cylinder 11 in the 5th cycle. When T2 > the preset value K, the main controller adjusts the allocated delay t61 to t6 - T2 as the reversing delay time of the main cylinder 11 in the 5th cycle. When |T2| < the preset value K, the main controller keeps the allocated delay t6 unchanged as the reversing delay time of the main cylinder 11 in the 5th cycle, that is, the start time of the pushing action of the pumping cylinder 11 remains unchanged.

[0126] After the initial coarse adjustment of the main cylinder reversing delay time t5 and the distribution delay time t6 is completed, the matching of the actions of the main cylinder 11 and the distribution cylinder 17 is judged in real time during the subsequent pumping cycle, and the main cylinder reversing delay time and the distribution delay time are finely adjusted. That is, the start time of the reversing action of the swing cylinder 17 pushing the distribution valve 19 and the start time of the pushing action of the pumping cylinder 11 are finely adjusted. The purpose of the initial coarse adjustment and the real-time fine adjustment is to make the time difference between the stopping time of the pushing action of the pumping cylinder 11 and the starting time of the reversing action of the swing cylinder 17 pushing the distribution valve 19 0 (or close to 0), and the time difference between the ending time of the reversing action of the swing cylinder 17 pushing the distribution valve 19 and the starting time of the pushing action of the pumping cylinder 11 0 (or close to 0), so as to improve the pumping efficiency. Figure 10 A schematic flowchart illustrating the fine-tuning process of reversing control of a material pumping system according to an embodiment of the present invention is shown below. Figure 10 .

[0127] It should be noted that since different pumping conditions have their own corresponding initial parameters, after the current pumping system completes pumping, the starting point of the swing cylinder 17 and the starting point of the pumping cylinder 11 need to be restored to the parameters before adjustment. Otherwise, when pumping is carried out under different pumping conditions next time, the initial parameters in the original mapping relationship may be messed up.

[0128] In this embodiment of the invention, the reversing time and start / stop time of the master cylinder are automatically identified, and the identified data is uploaded to a cloud platform for storage. The sources of the identified data include, but are not limited to, allocated pressure data (continuous pressure data), allocated position detection devices (switching signals), master cylinder piston position sensors (switching signals), and displacement data collected by displacement sensors. The cloud platform calculates and establishes a mapping relationship between the received matching data and the preset initial values ​​of the matching parameters (i.e., the original mapping relationship between pumping operating information and initial parameter values). Methods for establishing this mapping relationship include, but are not limited to, expert databases, pattern recognition algorithms, and data-driven algorithms. In this embodiment of the invention, data updates are performed throughout the entire working life of the product using an industrial internet platform, enabling full-process management of product matching performance. Parameter adjustments employ a method of initial coarse adjustment based on operating data combined with real-time fine-tuning based on identified data, ensuring both product stability and parameter adaptability.

[0129] In this embodiment of the invention, the matching of the actions of the main hydraulic cylinder 11 and the distribution hydraulic cylinder 17 can be judged and adjusted in real time, simplifying the debugging requirements of the pumping system and improving the working efficiency of the pumping system. The distribution reversal time and the main cylinder start-stop time are automatically identified based on the pressure change trend of the distribution hydraulic system and the displacement change trend of the main cylinder, and then uploaded to the platform. This allows for tracking data changes throughout the entire working life of the product to maintain high pumping efficiency.

[0130] In this embodiment of the invention, unlike the approach of continuously adjusting and adding a small preset delay in real time, this invention utilizes different initial parameters corresponding to different pumping conditions for initial fine-tuning, followed by further fine-tuning. This ensures both the stability of the entire pumping system and the real-time adaptability of the product. It fully leverages the data storage and rapid processing capabilities of the cloud platform, compensating for the shortcomings of the controller itself. By using the cloud platform, the computational burden on the pumping system controller is reduced, ensuring the controller program's rapid response performance to other functions.

[0131] This invention provides a processor configured to execute any of the control methods for a pumping system described in the above embodiments.

[0132] The pumping system includes a swing cylinder and at least two pumping cylinders. The swing cylinder is used to drive the pumping direction change, and the pumping cylinders are used to push the material out.

[0133] Specifically, the processor can be configured as follows:

[0134] Determine the target operating conditions of the pumping system;

[0135] Obtain the original mapping relationship between the pre-established pumping condition information and the initial parameters;

[0136] Based on the target working condition information and the original mapping relationship, match the target initial value parameters corresponding to the target working condition;

[0137] Adjust the starting point of the swing cylinder and the starting point of the pumping cylinder according to the target initial value parameters.

[0138] In this embodiment of the invention, the target initial value parameter includes a first initial value time and a second initial value time, and the processor is configured to:

[0139] The original mapping relationship is established in advance in the following way:

[0140] Determine the pumping operating conditions of the pumping system;

[0141] Determine the starting point and ending point of the swing cylinder based on the pressure change characteristics of the swing cylinder.

[0142] The starting point and ending point of the material pushing in the pumping cylinder are determined based on the displacement change characteristics of the piston in the pumping cylinder.

[0143] The difference between the start point of the action and the end point of the material push is determined as the first initial time value.

[0144] The difference between the material push start point and the action end point is determined as the second initial time value;

[0145] Establish the original mapping relationship between pumping conditions, the first initial value time, and the second initial value time.

[0146] In this embodiment of the invention, the processor is configured to:

[0147] Adjusting the starting point of the swing cylinder and the pushing starting point of the pump cylinder based on the target initial parameters includes:

[0148] If the first initial time is positive and greater than the preset value, the starting point of the swing cylinder's action will be advanced by the first initial time.

[0149] If the second initial time is positive and greater than the preset value, the starting point of the pumping cylinder is advanced by the second initial time.

[0150] In this embodiment of the invention, the processor is configured to:

[0151] Adjusting the starting point of the swing cylinder and the pushing starting point of the pump cylinder based on the target initial parameters also includes:

[0152] If the first initial time is negative and its absolute value is greater than the preset value, the starting point of the swing cylinder's action will be delayed by the first initial time.

[0153] If the second initial time is negative and its absolute value is greater than the preset value, the starting point of the pumping cylinder's push-out will be delayed by the second initial time.

[0154] In this embodiment of the invention, the processor is configured to:

[0155] Adjusting the starting point of the swing cylinder and the pushing starting point of the pump cylinder based on the target initial parameters includes:

[0156] If the absolute values ​​of both the first and second initial time values ​​are less than the preset values, it is prohibited to adjust the starting point of the swing cylinder and the starting point of the pumping cylinder.

[0157] In this embodiment of the invention, the processor is configured to:

[0158] Target operating condition information includes at least one of the following:

[0159] The chassis's operating information, sensor-acquired signals, and controller's control information.

[0160] In this embodiment of the invention, the processor is configured to:

[0161] The chassis's operating information includes engine speed, sensor-acquired signals including pumping pressure and / or pumping cylinder displacement, and controller information including pumping speed and / or displacement gear.

[0162] In this embodiment of the invention, the processor is further configured to:

[0163] After adjusting the starting point of the swing cylinder and the pushing point of the pumping cylinder according to the target initial value parameters, the starting point and ending point of the swing cylinder are determined according to the pressure change characteristics of the swing cylinder.

[0164] The starting point and ending point of the material pushing in the pumping cylinder are determined based on the displacement change characteristics of the piston in the pumping cylinder.

[0165] The difference between the start point of the action and the end point of the material push is determined as the third initial time value.

[0166] The difference between the material push start point and the action end point is determined as the fourth initial value time;

[0167] If the absolute value of the third initial time is greater than the preset value, the starting point of the swing cylinder is adjusted according to the third initial time.

[0168] If the absolute value of the fourth initial time is greater than the preset value, the push start point of the pumping cylinder is adjusted according to the fourth initial time.

[0169] In this embodiment of the invention, the processor is further configured to:

[0170] After the pumping system completes pumping, restore the starting point of the swing cylinder and the starting point of the pumping cylinder to the parameters before adjustment.

[0171] This invention provides a pumping system, comprising:

[0172] A swing cylinder is used to drive the pump to change direction;

[0173] Pump cylinders are used to push materials out;

[0174] A cloud platform is used to pre-establish and store the original mapping relationship between pumping operating condition information and initial parameters; and

[0175] The aforementioned controller.

[0176] This invention provides a machine-readable storage medium storing instructions that, when executed by a machine, implement the aforementioned control method for a pumping system.

[0177] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0178] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0179] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0180] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0181] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0182] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0183] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0184] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0185] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a pumping system, characterized in that, The pumping system includes a swing cylinder and at least two pumping cylinders, wherein the swing cylinder is used to reverse the pumping direction, and the pumping cylinders are used to push the material out; the control method includes: Determine the target operating condition information of the pumping system; Obtain the original mapping relationship between the pre-established pumping condition information and the initial value parameters. The pumping condition information includes at least one of the chassis working information, sensor acquisition signals, and controller control information. The initial value parameters include a first initial value time and a second initial value time. The first initial value time is the difference between the start point of the swing cylinder's action and the end point of the pumping cylinder's push. The second initial value time is the difference between the start point of the pumping cylinder's push and the end point of the swing cylinder's action. Based on the target operating condition information and the original mapping relationship, match the target initial value parameter corresponding to the target operating condition information; Adjust the starting point of the swing cylinder and the starting point of the pumping cylinder according to the target initial value parameters.

2. The control method according to claim 1, characterized in that, The target initial value parameters include a first initial value time and a second initial value time, and the original mapping relationship is pre-established in the following way: Determine the pumping operating condition information of the pumping system; The starting point and ending point of the swing cylinder are determined based on the pressure change characteristics of the swing cylinder. The starting point and ending point of the material pushing of the pumping cylinder are determined based on the displacement change characteristics of the piston in the pumping cylinder. The difference between the start point of the action and the end point of the material pushing is determined as the first initial time. The difference between the material pushing start point and the action completion point is determined as the second initial time value; Establish the original mapping relationship between the pumping condition, the first initial time, and the second initial time.

3. The control method according to claim 2, characterized in that, The adjustment of the actuation start point of the swing cylinder and the pushing start point of the pumping cylinder according to the target initial value parameters includes: If the first initial time is positive and greater than the preset value, the starting point of the swing cylinder is advanced by the first initial time. If the second initial time is positive and greater than the preset value, the material pushing start point of the pumping cylinder is advanced by the second initial time.

4. The control method according to claim 2, characterized in that, The step of adjusting the actuation start point of the swing cylinder and the pushing start point of the pumping cylinder according to the target initial value parameters also includes: If the first initial time is negative and its absolute value is greater than the preset value, the starting point of the swing cylinder is delayed by the first initial time. If the second initial time is negative and its absolute value is greater than the preset value, the starting point of the pumping cylinder is delayed by the second initial time.

5. The control method according to claim 2, characterized in that, The adjustment of the actuation start point of the swing cylinder and the pushing start point of the pumping cylinder according to the target initial value parameters includes: If the absolute values ​​of both the first initial time and the second initial time are less than the preset values, it is prohibited to adjust the start point of the swing cylinder and the push start point of the pumping cylinder.

6. The control method according to claim 1, characterized in that, The target operating condition information includes at least one of the following: The chassis's operating information, sensor-acquired signals, and controller's control information.

7. The control method according to claim 6, characterized in that, The chassis operating information includes engine speed, the sensor acquisition signals include pumping pressure and / or pumping cylinder displacement, and the controller control information includes pumping speed and / or displacement gear.

8. The control method according to claim 1, characterized in that, Also includes: After adjusting the starting point of the swing cylinder and the pushing point of the pumping cylinder according to the target initial value parameters, the starting point and ending point of the swing cylinder are determined according to the pressure change characteristics of the swing cylinder. The starting point and ending point of the material pushing of the pumping cylinder are determined based on the displacement change characteristics of the piston in the pumping cylinder. The difference between the start point of the action and the end point of the material push is determined as the third initial time value. The difference between the material pushing start point and the action completion point is determined as the fourth initial time value; If the absolute value of the third initial time is greater than the preset value, the starting point of the swing cylinder is adjusted according to the third initial time. If the absolute value of the fourth initial time is greater than the preset value, the push start point of the pumping cylinder is adjusted according to the fourth initial time.

9. The control method according to claim 1, characterized in that, Also includes: After the pumping system completes pumping, the activation point of the swing cylinder and the push activation point of the pumping cylinder are restored to the parameters before adjustment.

10. A controller, characterized in that, It is configured to perform the control method for a pumping system according to any one of claims 1 to 9.

11. A pumping system, characterized in that, include: A swing cylinder is used to drive the pump to change direction; Pump cylinders are used to push materials out; The cloud platform is used to pre-establish and store the original mapping relationship between pumping condition information and initial parameters; as well as The controller according to claim 10.

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